Add YAM (URDF) + RBY1 Mobile Manipulators (URDF)

[uynitsuj]

No description provided.

[stephane-caron]

Thank you for starting this PR 👍 There is a CI error in loading the RBY1 description with Pinocchio:

  ======================================================================
  ERROR: test_rby1_description (test_pinocchio.TestPinocchio)
  ----------------------------------------------------------------------
  Traceback (most recent call last):
    File "/home/runner/work/robot_descriptions.py/robot_descriptions.py/tests/loaders/test_pinocchio.py", line 32, in test
      load_robot_description(description)
    File "/home/runner/work/robot_descriptions.py/robot_descriptions.py/.tox/loader-pinocchio/lib/python3.9/site-packages/robot_descriptions/loaders/pinocchio.py", line 57, in load_robot_description
      robot = pin.RobotWrapper.BuildFromURDF(
    File "/home/runner/work/robot_descriptions.py/robot_descriptions.py/.tox/loader-pinocchio/lib/python3.9/site-packages/cmeel.prefix/lib/python3.9/site-packages/pinocchio/robot_wrapper.py", line 20, in BuildFromURDF
      robot.initFromURDF(filename, *args, **kwargs)
    File "/home/runner/work/robot_descriptions.py/robot_descriptions.py/.tox/loader-pinocchio/lib/python3.9/site-packages/cmeel.prefix/lib/python3.9/site-packages/pinocchio/robot_wrapper.py", line 25, in initFromURDF
      model, collision_model, visual_model = buildModelsFromUrdf(
    File "/home/runner/work/robot_descriptions.py/robot_descriptions.py/.tox/loader-pinocchio/lib/python3.9/site-packages/cmeel.prefix/lib/python3.9/site-packages/pinocchio/shortcuts.py", line 56, in buildModelsFromUrdf
      return _buildModelsFromUrdf(filename, **kwargs)
    File "/home/runner/work/robot_descriptions.py/robot_descriptions.py/.tox/loader-pinocchio/lib/python3.9/site-packages/cmeel.prefix/lib/python3.9/site-packages/pinocchio/shortcuts.py", line 72, in _buildModelsFromUrdf
      model = pin.buildModelFromUrdf(filename)
  ValueError: The file /home/runner/.cache/robot_descriptions/rby1_description/models/rby1a/urdf/model.urdf does not contain a valid URDF model.

Are you able to load the URDF with Pinocchio on your computer?